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Commit 29520c08 authored by James Goppert's avatar James Goppert
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Support for os abstraction.

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CMakeLists.txt
+ 22
− 26
View file @ 29520c08
......@@ -56,6 +56,9 @@
# Functions/Macros
# ---------------------------------------------------------------------------
#
# * Use px4_parse_function_args to parse functions and check for required
# arguments.
#
# * Never use macros. They allow overwriting global variables and this
# makes variable declarations hard to locate.
#
......@@ -107,9 +110,17 @@ set(package-contact "px4users@googlegroups.com")
#
list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
include(px4_utils)
include(px4_nuttx_utils)
include(px4_${OS}_utils)
set(px4_required_functions
px4_os_add_firmware
px4_os_prebuild_targets
px4_os_add_flags
)
foreach(cmd ${px4_required_functions})
if(NOT COMMAND ${cmd})
message(FATAL_ERROR "cmake/px4_${OS}_utils.cmake must implement ${cmd}")
endif()
endforeach()
#=============================================================================
# parameters
......@@ -124,8 +135,8 @@ set_property(CACHE BOARD PROPERTY STRINGS px4fmu-v2 sitl)
set(LABEL "simple" CACHE STRING "module set label")
set_property(CACHE LABEL PROPERTY STRINGS simple default)
set(NUTTX_BUILD_THREADS "4" CACHE STRING
"number of threads to use when building NuttX")
set(THREADS "4" CACHE STRING
"number of threads to use for external build processes")
set(required_toolchain_variables
CMAKE_C_COMPILER_ID
......@@ -159,40 +170,25 @@ add_custom_target(submodule_clean
#=============================================================================
# external libraries
#
if(${OS} STREQUAL "nuttx")
px4_nuttx_add_export(OUT nuttx_export
CONFIG ${BOARD}
THREADS ${NUTTX_BUILD_THREADS}
DEPENDS git_nuttx)
endif()
px4_os_prebuild_targets(OUT prebuild_targets
BOARD ${BOARD}
THREADS ${THREADS})
#=============================================================================
# build flags
#
px4_add_common_flags(
px4_os_add_flags(
BOARD ${BOARD}
C_FLAGS c_flags
CXX_FLAGS cxx_flags
EXE_LINKER_FLAGS exe_linker_flags
INCLUDE_DIRS include_dirs
LINK_DIRS link_dirs
DEFINITIONS definitions)
if(${OS} STREQUAL "nuttx")
px4_add_nuttx_flags(
BOARD ${BOARD}
C_FLAGS c_flags
CXX_FLAGS cxx_flags
EXE_LINKER_FLAGS exe_linker_flags
INCLUDE_DIRS include_dirs
LINK_DIRS link_dirs
DEFINITIONS definitions)
endif()
px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
include_directories(${include_dirs})
link_directories(${link_dirs})
add_definitions(${definitions})
......
cmake/px4_nuttx_utils.cmake
+ 82
− 18
View file @ 29520c08
......@@ -31,9 +31,28 @@
#
############################################################################
#=============================================================================
#
# Defined functions in this file
#
# OS Specific Functions
#
# * px4_nuttx_add_firmware
# * px4_nuttx_generate_builtin_commands
# * px4_nuttx_add_export
# * px4_nuttx_generate_romfs
#
# Required OS Inteface Functions
#
# * px4_os_add_flags
# * px4_os_prebuild_targets
#
include(px4_utils)
#----------------------------------------------------------------------------
#=============================================================================
#
# px4_nuttx_add_firmware
#
# This function adds a nuttx firmware target.
......@@ -53,7 +72,6 @@ include(px4_utils)
# Example:
# px4_nuttx_add_firmware(TARGET fw_test EXE test)
#
#----------------------------------------------------------------------------
function(px4_nuttx_add_firmware)
px4_parse_function_args(
NAME px4_nuttx_add_firmware
......@@ -74,7 +92,8 @@ function(px4_nuttx_add_firmware)
)
endfunction()
#----------------------------------------------------------------------------
#=============================================================================
#
# px4_nuttx_generate_builtin_commands
#
# This function generates the builtin_commands.c src for nuttx
......@@ -91,9 +110,9 @@ endfunction()
# OUT : generated builtin_commands.c src
#
# Example:
# px4_nuttx_generate_builtin_commands(OUT <generated-src> MODULE_LIST px4_simple_app)
# px4_nuttx_generate_builtin_commands(
# OUT <generated-src> MODULE_LIST px4_simple_app)
#
#----------------------------------------------------------------------------
function(px4_nuttx_generate_builtin_commands)
px4_parse_function_args(
NAME px4_nuttx_generate_builtin_commands
......@@ -127,11 +146,12 @@ function(px4_nuttx_generate_builtin_commands)
${OUT})
endfunction()
#----------------------------------------------------------------------------
#=============================================================================
#
# px4_nuttx_add_export
#
# This function generates a nuttx export.
#
# Usage:
# px4_nuttx_add_export(
# OUT <out-target>
......@@ -148,7 +168,6 @@ endfunction()
# Example:
# px4_nuttx_add_export(OUT nuttx_export CONFIG px4fmu-v2)
#
#----------------------------------------------------------------------------
function(px4_nuttx_add_export)
px4_parse_function_args(
......@@ -215,7 +234,8 @@ function(px4_nuttx_add_export)
endfunction()
#----------------------------------------------------------------------------
#=============================================================================
#
# px4_nuttx_generate_romfs
#
# The functions generates the ROMFS filesystem for nuttx.
......@@ -232,7 +252,6 @@ endfunction()
# Example:
# px4_nuttx_generate_romfs(OUT my_romfs ROOT "ROMFS/my_board")
#
#----------------------------------------------------------------------------
function(px4_nuttx_generate_romfs)
px4_parse_function_args(
......@@ -257,13 +276,14 @@ function(px4_nuttx_generate_romfs)
endfunction()
#----------------------------------------------------------------------------
# px4_add_nuttx_flags
#=============================================================================
#
# px4_add_flags
#
# Set ths nuttx build flags.
#
# Usage:
# px4_add_nuttx_flags(
# px4_add_flags(
# C_FLAGS <inout-variable>
# CXX_FLAGS <inout-variable>
# EXE_LINKER_FLAGS <inout-variable>
......@@ -273,7 +293,7 @@ endfunction()
#
# Input:
# BOARD : flags depend on board/nuttx config
#
# Input/Output: (appends to existing variable)
# C_FLAGS : c compile flags variable
# CXX_FLAGS : c++ compile flags variable
......@@ -283,24 +303,32 @@ endfunction()
# DEFINITIONS : definitions
#
# Example:
# px4_add_nuttx_flags(
# px4_add_flags(
# C_FLAGS CMAKE_C_FLAGS
# CXX_FLAGS CMAKE_CXX_FLAGS
# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
# INCLUDES <list>)
#
#----------------------------------------------------------------------------
function(px4_add_nuttx_flags)
function(px4_add_flags)
set(inout_vars
C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
px4_parse_function_args(
NAME px4_add_nuttx_flags
NAME px4_add_flags
ONE_VALUE ${inout_vars} BOARD
REQUIRED ${inout_vars} BOARD
ARGN ${ARGN})
px4_add_common_flags(
BOARD ${BOARD}
C_FLAGS ${C_FLAGS}
CXX_FLAGS ${CXX_FLAGS}
EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}
INCLUDE_DIRS ${INCLUDE_DIRS}
LINK_DIRS ${LINK_DIRS}
DEFINITIONS ${DEFINITIONS})
set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
set(added_include_dirs
${nuttx_export_dir}/include
......@@ -341,8 +369,44 @@ function(px4_add_nuttx_flags)
foreach(var ${inout_vars})
string(TOLOWER ${var} lower_var)
set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
message(STATUS "nuttx: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
endforeach()
endfunction()
#=============================================================================
#
# px4_prebuild_targets
#
# This function generates os dependent targets
# Usage:
# px4_os_prebuild_targets(
# OUT <out-list_of_targets>
# BOARD <in-string>
# )
#
# Input:
# BOARD : board
# THREADS : number of threads for building
#
# Output:
# OUT : the target list
#
# Example:
# px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
#
function(px4_prebuild_targets)
px4_parse_function_args(
NAME px4_add_os_libraries
ONE_VALUE OUT BOARD THREADS
REQUIRED OUT BOARD
ARGN ${ARGN})
px4_nuttx_add_export(OUT nuttx_export
CONFIG ${BOARD}
THREADS ${THREADS}
DEPENDS git_nuttx)
add_custom_target(${OUT} DEPENDS nuttx_export)
endfunction()
# vim: set noet fenc=utf-8 ff=unix nowrap:
cmake/px4_utils.cmake
+ 48
− 29
View file @ 29520c08
......@@ -31,9 +31,26 @@
#
############################################################################
#=============================================================================
#
# Defined functions in this file
#
# utility functions
#
# * px4_parse_function_args
# * px4_add_git_submodule
# * px4_prepend_string
# * px4_join
# * px4_add_module
# * px4_generate_messages
# * px4_add_upload
# * px4_add_common_flags
#
include(CMakeParseArguments)
#----------------------------------------------------------------------------
#=============================================================================
#
# px4_parse_function_args
#
# This function simpliies usage of the cmake_parse_arguments module.
......@@ -78,7 +95,6 @@ include(CMakeParseArguments)
# name: hello
# list: a b c
#
#----------------------------------------------------------------------------
function(px4_parse_function_args)
cmake_parse_arguments(IN "" "NAME" "OPTIONS;ONE_VALUE;MULTI_VALUE;REQUIRED;ARGN" "${ARGN}")
cmake_parse_arguments(OUT "${IN_OPTIONS}" "${IN_ONE_VALUE}" "${IN_MULTI_VALUE}" "${IN_ARGN}")
......@@ -95,13 +111,14 @@ function(px4_parse_function_args)
endforeach()
endfunction()
#----------------------------------------------------------------------------
# add_git_submodule
#=============================================================================
#
# px4_add_git_submodule
#
# This function add a git submodule target.
#
# Usage:
# add_git_submodule(TARGET <target> PATH <path>)
# px4_add_git_submodule(TARGET <target> PATH <path>)
#
# Input:
# PATH : git submodule path
......@@ -110,9 +127,8 @@ endfunction()
# TARGET : git target
#
# Example:
# add_git_submodule(TARGET git_nuttx PATH "NuttX")
# px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
#
#----------------------------------------------------------------------------
function(px4_add_git_submodule)
px4_parse_function_args(
NAME px4_add_git_submodule
......@@ -131,7 +147,8 @@ function(px4_add_git_submodule)
)
endfunction()
#----------------------------------------------------------------------------
#=============================================================================
#
# px4_prepend_string
#
# This function prepends a string to a list
......@@ -152,7 +169,6 @@ endfunction()
# path/to/src/file1.cpp
# path/to/src/file2.cpp
#
#----------------------------------------------------------------------------
function(px4_prepend_string)
px4_parse_function_args(
NAME px4_prepend_string
......@@ -167,7 +183,8 @@ function(px4_prepend_string)
set(${OUT} ${${OUT}} PARENT_SCOPE)
endfunction()
#----------------------------------------------------------------------------
#=============================================================================
#
# px4_join
#
# This function joins a list with a given separator. If list is not
......@@ -188,7 +205,6 @@ endfunction()
# test_join would then be:
# "a;b;c"
#
#----------------------------------------------------------------------------
function(px4_join)
px4_parse_function_args(
NAME px4_join
......@@ -200,7 +216,8 @@ function(px4_join)
set(${OUT} ${_TMP_STR} PARENT_SCOPE)
endfunction()
#----------------------------------------------------------------------------
#=============================================================================
#
# px4_add_module
#
# This function builds a static library from a module description.
......@@ -236,7 +253,6 @@ endfunction()
# git_nuttx
# )
#
#----------------------------------------------------------------------------
function(px4_add_module)
px4_parse_function_args(
NAME px4_add_module
......@@ -264,11 +280,12 @@ function(px4_add_module)
set_target_properties(${MODULE} PROPERTIES LINK_INTERFACE_MULTIPLICITY 4)
endfunction()
#----------------------------------------------------------------------------
#=============================================================================
#
# px4_generate_messages
#
# This function generates source code from ROS msg definitions.
#
# Usage:
# px4_generate_messages(TARGET <target> MSGS <msg-files>)
#
......@@ -286,7 +303,6 @@ endfunction()
# [ DEPENDS <dependencies> ]
# )
#
#----------------------------------------------------------------------------
function(px4_generate_messages)
px4_parse_function_args(
NAME px4_generate_messages
......@@ -349,11 +365,12 @@ function(px4_generate_messages)
DEPENDS ${msg_multi_files_out} ${msg_files_out})
endfunction()
#----------------------------------------------------------------------------
#=============================================================================
#
# px4_add_upload
#
# This function generates source code from ROS msg definitions.
#
# Usage:
# px4_add_upload(OUT <target> BUNDLE <file.px4>)
#
......@@ -370,7 +387,6 @@ endfunction()
# BUNDLE main.px4
# )
#
#----------------------------------------------------------------------------
function(px4_add_upload)
px4_parse_function_args(
NAME px4_generate_messages
......@@ -403,13 +419,15 @@ function(px4_add_upload)
)
endfunction()
#----------------------------------------------------------------------------
#=============================================================================
#
# px4_add_common_flags
#
# Set ths default build flags.
#
# Usage:
# px4_add_common_flags(
# BOARD <in-string>
# C_FLAGS <inout-variable>
# CXX_FLAGS <inout-variable>
# EXE_LINKER_FLAGS <inout-variable>
......@@ -417,6 +435,9 @@ endfunction()
# LINK_DIRS <inout-variable>
# DEFINITIONS <inout-variable>)
#
# Input:
# BOARD : board
#
# Input/Output: (appends to existing variable)
# C_FLAGS : c compile flags variable
# CXX_FLAGS : c++ compile flags variable
......@@ -427,12 +448,12 @@ endfunction()
#
# Example:
# px4_add_common_flags(
# BOARD px4fmu-v2
# C_FLAGS CMAKE_C_FLAGS
# CXX_FLAGS CMAKE_CXX_FLAGS
# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
# INCLUDES <list>)
#
#----------------------------------------------------------------------------
function(px4_add_common_flags)
set(inout_vars
......@@ -440,8 +461,8 @@ function(px4_add_common_flags)
px4_parse_function_args(
NAME px4_add_common_flags
ONE_VALUE ${inout_vars}
REQUIRED ${inout_vars}
ONE_VALUE ${inout_vars} BOARD
REQUIRED ${inout_vars} BOARD
ARGN ${ARGN})
set(warnings
......@@ -569,8 +590,10 @@ function(px4_add_common_flags)
set(added_link_dirs) # none used currently
string(TOUPPER ${BOARD} board_upper)
string(REPLACE "-" "_" board_config ${board_upper})
set(added_definitions
-DCONFIG_ARCH_BOARD_${BOARD_CONFIG}
-DCONFIG_ARCH_BOARD_${board_config}
)
set(added_exe_link_flags
......@@ -582,13 +605,9 @@ function(px4_add_common_flags)
foreach(var ${inout_vars})
string(TOLOWER ${var} lower_var)
set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
message(STATUS "set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
endforeach()
endfunction()
# vim: set noet fenc=utf-8 ff=unix nowrap:
src/CMakeLists.txt
+ 1
− 1
View file @ 29520c08
......@@ -64,7 +64,7 @@ if (${OS} STREQUAL "nuttx")
px4_nuttx_add_firmware(OUT fw_main.px4 EXE main)
px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD} BUNDLE fw_main.px4)
px4_nuttx_generate_romfs(OUT romfs.img ROOT ROMFS/px4fmu_common)
px4_generate_romfs(OUT romfs.img ROOT ROMFS/px4fmu_common)
endif()
......
src/platforms/common/CMakeLists.txt
+ 3
− 4
View file @ 29520c08
......@@ -33,10 +33,9 @@
set(depends
msg_gen
)
if(${OS} STREQUAL "nuttx")
list(APPEND depends
nuttx_export
)
if (prebuild_targets)
list(APPEND depends prebuild_targets)
endif()
px4_add_module(
......
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